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Significant Accounting Policies - Property, Plant and Equipment (Details) - USD ($)
$ in Thousands
Dec. 31, 2023
Dec. 31, 2022
Property, Plant and Equipment [Line Items]    
Buildings and improvements $ 4,635 $ 4,387
Equipment and furniture 20,881 20,478
Software 18,030 20,724
Software development and equipment installations in progress 1,842 8,947
Gross property, plant and equipment 45,388 54,536
Less accumulated depreciation (36,533) (44,013)
Net property, plant and equipment $ 8,855 $ 10,523
Minimum | Buildings and improvements    
Property, Plant and Equipment [Line Items]    
Estimated useful lives (in years) 3 years  
Minimum | Software    
Property, Plant and Equipment [Line Items]    
Estimated useful lives (in years) 2 years  
Minimum | Equipment and furniture    
Property, Plant and Equipment [Line Items]    
Estimated useful lives (in years) 3 years  
Maximum | Buildings and improvements    
Property, Plant and Equipment [Line Items]    
Estimated useful lives (in years) 40 years  
Maximum | Software    
Property, Plant and Equipment [Line Items]    
Estimated useful lives (in years) 10 years  
Maximum | Equipment and furniture    
Property, Plant and Equipment [Line Items]    
Estimated useful lives (in years) 20 years